CN206499632U - A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair - Google Patents
A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair Download PDFInfo
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- CN206499632U CN206499632U CN201621057859.7U CN201621057859U CN206499632U CN 206499632 U CN206499632 U CN 206499632U CN 201621057859 U CN201621057859 U CN 201621057859U CN 206499632 U CN206499632 U CN 206499632U
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- vertical tension
- rehabilitation training
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Abstract
A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair.It is main to include built on stilts displacement unit, vertical tension unit and man-machine connection unit.Wherein making somebody a mere figurehead displacement unit includes main body rack, two cross tracks and two long rails and its displacement drive mechanism being respectively arranged below.Vertical tension unit includes a pair of slide rails, two dynamic plates, two stage clips, pressure sensor, electric cylinders, serving motor, capstan winch and declination angle measurement device.Lifting rope is finally connected by pulley, pressure sensor top pulley and lifting rope declination angle measurement device on the motor-driven capstan winch of serving, the pulley of electric cylinders side, the dynamic plate away from electric cylinders side with man-machine connection unit.The utility model is a kind of new virtual mass unloading lower limb rehabilitation system, a good rehabilitation training environment is provided by virtually going the method for quality for the patient that slight and moderate lower limb nerve is damaged, with very high researching value and wide application prospect.
Description
Technical field
The utility model is related to the quality Unloading Technology in a kind of human body recovery training, is generally used for robot field and health
Multiple medical field.
Background technology
Apoplexy and spinal cord injury are to cause the main cause of lower extremity motor function obstacle, and medical research shows, lower limb rehabilitation
Training can help the function of Patients of Spinal recovery nervous system.High intensity can be obtained for a long time by robot assisted
Rehabilitation training, obtain aiding in better than manpower or the effect voluntarily trained of patient.Currently, robot assisted patient carries out lower limb health
Multiple technology mainly has：1. exoskeleton robot technology, aids in patient to carry out health by dressing exoskeleton robot for patient
Multiple motion, most exoskeleton robot is also equipped with suspension system of restricting.2. single rope or suspension system of restricting more, are trouble by lifting rope
Person provides a upward loss of weight power, so as to mitigate the lower limb burden of patient.
Obtain good rehabilitation training effect, the strong will of patient itself and play an active part in most important, Bing Rencan
With initiative it is higher, the effect of training can be better.Rehabilitation training will not only maximize the number of repetition of training, also maximize
The active effort of patient, this is one of most well accepted principle of clinical rehabilitation and rehabilitation project field.But, it is auxiliary in robot
In the rehabilitation training helped, robot uses Adaptive Control algorithm to provide power-assisted for patient mostly, and this makes patient have an opportunity to reduce
The active effort of oneself, so as to cause patient to slack off, produces inertia, reduces rehabilitation efficacy.Especially for moderate or slight god
There is the patient of certain movement ability after damage, patient can more be excited by only providing the body weight support treadmill training of body Gravity support
Be actively engaged in, and contribute to train patient gait and balance control ability, more paid attention in recent years.
Existing rope suspension type Technology of Weight Reduction mainly has two kinds：1. passive Technology of Weight Reduction, by the counterweight of a fixed mass
A fixed pulling force is provided, this passive Technology of Weight Reduction will not only reduce the dynamic load of patient during patient motion
Can also it be increased.2. active Technology of Weight Reduction, is remained that the pulling force on lifting rope is constant by serving motor, this side by capstan winch
Method, which improves passive Technology of Weight Reduction, can increase the defect of patient's dynamic load but could not also reduce patient's moving in motion process
State is loaded, it is impossible to is reached and good virtual is gone mass effect.
Current lower limb rehabilitation robot is all confined to patient a fixed position, is entered by equipment such as treadmills
Row ambulation training, patient can only be allowed to carry out the gait training of simple fore-and-aft direction for this method or the squatting up of fixed position is moved
Make, it is impossible to help patient to carry out more rehabilitation actions, cause certain limitation.
Utility model content
The purpose of this utility model is to propose that a kind of new active loss of weight system supplymentary patient carries out lower limb rehabilitation training
Built on stilts mobile device --- i.e. towards single rope suspention active loss of weight system of gait and balance rehabilitation training, pass through model analysis
And design, solve above-mentioned defect of the prior art.
The technical solution of the utility model is as follows：
Towards gait and single rope suspention active loss of weight system of balance rehabilitation training, the system includes built on stilts displacement unit,
Vertical tension unit and man-machine connection unit；Wherein making somebody a mere figurehead displacement unit includes a main body rack, and the top of main body rack is set
It is equipped with two parallel transverse direction (that is, X-direction) tracks and constitutes bridge-type suspension bracket (length, width and height are respectively 3m*2.5m*2m), two horizontal strokes
A set of displacement drive mechanism is provided with below to track, displacement drive mechanism includes the transmission that cross track two ends are set respectively
Axle, the two ends of power transmission shaft are each provided with being set with the horizontal biography coordinated with belt pulley on a belt pulley, two belt pulleys of homonymy
Dynamic leass, is fixed with a driven gear simultaneously on a power transmission shaft wherein, the driving gear peace engaged with driven gear
On servo motor shaft, the servomotor is arranged on main body rack and for driving long rails to be moved in X-direction；It is described
Be provided with two parallel longitudinal direction (that is, Y-direction) tracks on cross track, two long rails simultaneously with horizontal driving belt
Rope is fixed, and a set of identical displacement drive mechanism is provided with below two long rails, and servomotor therein is arranged on longitudinal direction
On track and for driving vertical tension unit to move in the Y direction.
Described vertical tension unit be arranged on long rails and with the displacement drive mechanism below long rails
Driving belt rope is fixed.
Vertical tension unit includes a metal framework, parallel on metal framework to be provided with a pair of slide rails, the slide rail
On be set with the slide rail between two dynamic plates, two dynamic plates and be respectively set with a stage clip, be provided with the outside of metal framework
One electric cylinders, the output shafts of electric cylinders through the metal framework and with inner side close to a dynamic plate be hinged, in the metal framework side
It is provided with simultaneously on pulley a, another dynamic plate and pulley b is installed, is installed on the outside of the relative electric cylinders another side of the metal framework
There is a serving motor, the output shaft of serving motor is connected by shaft coupling with capstan winch, and the steel wire disk for suspention is wound on strand
On disk, the end of steel wire rope bypasses pulley a and pulley b successively, finally bypasses the pressure sensor installed in metal framework bottom
The pulley c on top is connected straight down and with man-machine connection unit.Installed on metal framework in the vertical tension unit
There is a magnetic stripe parallel with the slide rail, it is corresponding with magnetic stripe that a magnetic head formation magnetic scale is respectively installed on two dynamic plates.
One pressure sensor is installed, for measuring the steel wire by pulley c between described pulley c and metal framework
Pulling force on rope.
It is provided with a declination angle measurement device simultaneously in the bottom of the metal framework positioned at vertical tension unit, the drift angle is surveyed
Measuring device includes two orthogonal can arbitrarily rotate two meniscus installed in metal framework bottom, the centre of two meniscus
A chute for steel wire penetrating is respectively provided with, a hollow shaft encoder is respectively installed in the rotating shaft of two meniscus one end
Steel wire rope in (i.e. meniscus shaft end is inserted and secured in hollow shaft encoder respectively), the vertical tension unit bypasses cunning
Take turns after c is passed through in the chute of the orthogonal points of two meniscus straight down, the end of steel wire rope and man-machine connection unit phase
Even.
Steel wire rope is changed into vertically downward direction after bypassing pulley c, by orthogonal two in horizontal direction hollow half
Month plate, if the skew on vertical direction occurs for steel wire rope, can drive two meniscus rotations, so as to be placed on the hollow of shaft end
Shaft encoder can be due to being inserted rotary shaft rotation and measure corresponding angle, the measured value of hollow shaft encoder is used for
Control two servomotors.
The utility model has the advantage of using the method for wire saws series connection flexible drive in vertical tension unit, improve
Pulling force control accuracy, and improve the comfort level of man-machine interaction.Built on stilts displacement unit the motion of human body can be carried out with
Motion tracking, solves common lower limb rehabilitation system and patient is confined into fixed position, can only carry out rehabilitation instruction by treadmill
The problem of practicing.
Brief description of the drawings
Fig. 1 is that the utility model is a kind of towards gait and the entirety of single rope suspention active loss of weight system of balance rehabilitation training
Structural representation.
Fig. 2 is the front view of vertical tension unit.
Fig. 3 is the top view of vertical tension unit.
Fig. 4 is the belt conveyer structure chart of built on stilts displacement unit.
Fig. 5 is the transmission principle and fixed form schematic diagram of belt conveyer.
Fig. 6 is hollow shaft encoder and meniscus position view.
In figure, 1 track a, 2 track b, 3 vertical tension units, 4 track c, 5 track d, 6 declination angle measurement devices, 7 steel wire ropes,
8 pulling force sensors, 9 man-machine connection units, 10 electric cylinders, 11 pulley a, the 12 slide rail stage clip of a, 13 dynamic plate a, 14 a, 15 dynamic plate b, 16 slide
Take turns b, 17 capstan winches, 18 shaft couplings, 19 pulley c, 20 slide rail b, 21 magnetic stripes, 22 magnetic head a, 23 stage clip b, 24 magnetic head b, 25 servings electricity
Machine, 26 hollow shaft encoder a, 27 hollow shaft encoder b, 28 meniscus, 29 pressure sensors, 30 driving belt ropes, 31 transmissions
Belt pulley, 32 driven gears, 33 driving gears, 34 servomotors, 35 leass fixing points, 36 steel wire ropes are by locating (chute).
Embodiment
The utility model is described in more detail below in conjunction with the accompanying drawings
The utility model is a kind of to be instructed based on series connection flexible drive and bridge-type hanger structure, towards gait and balanced rehabilitation
Experienced single rope suspention active loss of weight system, the system includes built on stilts displacement unit, vertical tension unit and man-machine connection unit.
Wherein making somebody a mere figurehead displacement unit includes a main body rack, and the top of main body rack is provided with two parallel transverse rails
(i.e. 1 track a, 2 track b) are constituted and are provided with a set of displacement drive mechanism, displacement below bridge-type suspension bracket, two cross tracks in road
The kind of drive of drive mechanism as shown in Figure 4 and Figure 5, in cross track (i.e. under 1 track a and 2 track b) and long rails
(i.e. the displacement drive structure shown in two sets of Fig. 4 is loaded under 4 track c and 5 track d) respectively, fixed form is as shown in Figure 5.Institute
The lateral displacement drive mechanism stated includes cross track (the i.e. power transmission shaft that 1 track a, 2 track b) two ends are set respectively, power transmission shaft
Two ends be each provided with being set with the transmission skin coordinated with belt pulley on a horizontal driving pulley 31, two belt pulleys of homonymy
Band rope 30, is fixed with a driven gear 32, the driving gear 33 engaged with driven gear simultaneously on a power transmission shaft wherein
On the output shaft of servomotor 34, wherein cross track is (in the displacement drive mechanism i.e. under 1 track a and 2 track b)
Servomotor be arranged on main body rack on and be responsible for driving long rails move, the displacement drive mechanism under long rails with
Lateral displacement drive mechanism is identical, and simply servomotor therein is arranged on long rails and (i.e. on 4 track c and 5 track d) and born
The vertical tension unit 3 of duty driving is moved.
(i.e. the rectangular frame two ends that 4 track c and 5 track d) are constituted are simultaneously solid with horizontal driving belt rope for long rails
Fixed, fixing point 35 is as shown in Figure 5.Vertical tension unit 3 be suspended on long rails (i.e. on 4 track c and 5 track d) and with longitudinal direction
The driving belt rope in displacement drive mechanism below track is fixed.
Vertical tension unit 3 (as shown in Figures 2 and 3) includes a metal framework, parallel on metal framework to be provided with
Two dynamic plates, i.e., the 13 dynamic dynamic plate b of plate a and 15, two are set with a pair of slide rails, i.e. 12 slide rail a and 20 slide rail b, the slide rail
A stage clip, i.e. 14 stage clip a and 23 stage clip b are respectively set with slide rail between dynamic plate, one is provided with the outside of metal framework
Individual electric cylinders 10, the output shafts of electric cylinders through the metal framework and with inner side close to the dynamic plate a of a dynamic plate such as 13 be hinged, in metal
The framework side is provided with 11 pulley a, another dynamic plate and is provided with 16 pulley b simultaneously, another in the relative electric cylinders of the metal framework
Outside is provided with a serving motor 25 on one side, and the output shaft of serving motor is connected by shaft coupling 18 with capstan winch 17, for hanging
The steel wire disk hung is wound on capstan winch, and the end of steel wire rope bypasses pulley a and pulley b successively, finally bypasses installed in metal frame
The 19 pulley c on the top of pressure sensor 29 of frame bottom straight down and are connected to needs by man-machine connection unit 9 and are provided
The target object of pulling force.
A magnetic stripe 21 parallel with slide rail is installed simultaneously on the metal framework, it is corresponding with magnetic stripe in two dynamic plates
On be respectively provided with a magnetic head i.e. 22 magnetic head a and 24 magnetic head b formation magnetic scale.
Bottom positioned at the metal framework of vertical tension unit is provided with declination angle measurement device 6 (such as a Fig. 2 and figure simultaneously
Shown in 6), the declination angle measurement device includes two orthogonal can arbitrarily rotate two meniscus installed in metal framework bottom
28, the centre of two meniscus is respectively provided with a chute for steel wire penetrating, respectively pacifies in the rotating shaft of two meniscus one end
Equipped with a hollow shaft encoder (i.e. in 26 hollow shaft encoder a, 27 hollow shaft encoder b), the vertical tension unit
Steel wire rope is bypassed after pulley c is passed through in the chute 36 of the orthogonal points of two meniscus straight down, the end of steel wire rope with
Man-machine connection unit 9 is connected.
The power train process of a whole set of single rope suspention active loss of weight system is：Control unit () receives lifting rope drift angle in figure slightly
The reading of hollow shaft encoder in measurement apparatus controls two servomotors so as to controlling vertical tension unit in level side
Upward motion, makes the direction of pull of lifting rope remain vertical.
In summary, structure design of the present utility model, can pass through bridge-type hanger structure and servo in the horizontal direction
Controller causes lifting rope to keep plumbness, it is to avoid the lateral and front and rear pulling force of patient is disturbed.In the vertical direction, passes through
Wire saws series elastic driver, realizes the accurate control to lifting rope pulling force and higher man-machine interaction comfort level.
Claims (4)
1. it is a kind of towards gait and single rope suspention active loss of weight system of balance rehabilitation training, it is characterized in that：The system includes frame
Empty displacement unit, vertical tension unit and man-machine connection unit；
Described built on stilts displacement unit includes a main body rack, and the top of main body rack is provided with two parallel cross tracks
Constitute and a set of displacement drive mechanism is provided with below bridge-type suspension bracket, two cross tracks, displacement drive mechanism includes transverse rails
The power transmission shaft that road two ends are set respectively, the two ends of power transmission shaft are each provided with being set with a belt pulley, two belt pulleys of homonymy
The horizontal driving belt rope coordinated with belt pulley, is fixed with a driven gear simultaneously on a power transmission shaft wherein, and passive
The driving gear of gear engagement is arranged on servo motor shaft, and the servomotor is arranged on main body rack；The cross track
On be provided with two parallel long rails, two long rails are fixed with horizontal driving belt rope simultaneously, two long rails
Lower section is provided with a set of identical displacement drive mechanism, and servomotor therein is arranged on long rails；
Described vertical tension unit be arranged on long rails and with the transmission in the displacement drive mechanism below long rails
Leass is fixed；
Described vertical tension unit includes a metal framework, parallel on metal framework to be provided with a pair of slide rails, the cunning
It is set with rail on the slide rail between two dynamic plates, two dynamic plates and is respectively set with a stage clip, is installed in the outside of metal framework
Have an electric cylinders, the output shafts of electric cylinders through the metal framework and with inner side close to a dynamic plate be hinged, should in metal framework
Side is provided with pulley a, another dynamic plate and is provided with pulley b simultaneously, pacifies on the outside of the relative electric cylinders another side of the metal framework
Equipped with a serving motor, the output shaft of serving motor is connected by shaft coupling with capstan winch, and the steel wire disk for suspention is wound on
On capstan winch, the end of steel wire rope bypasses pulley a and pulley b successively, finally bypasses the pressure sensing installed in metal framework bottom
The pulley c on device top is connected straight down and with man-machine connection unit.
2. a kind of single rope towards gait and balance rehabilitation training according to claim 1 suspends active loss of weight system in midair, its
It is characterized in：One magnetic stripe parallel with the slide rail is installed on the metal framework of the vertical tension unit, with magnetic stripe pair
One magnetic head formation magnetic scale should be respectively installed on two dynamic plates.
3. a kind of single rope towards gait and balance rehabilitation training according to claim 1 suspends active loss of weight system in midair, its
It is characterized in：One pressure for being used for measuring the steel wire rope upper pulling force for bypassing pulley c is installed between described pulley c and metal framework
Force snesor.
4. a kind of single rope suspention towards gait and balance rehabilitation training according to any one of claims 1 to 3 actively subtracts
Weight system, it is characterized in that：Bottom positioned at the metal framework of vertical tension unit is provided with a declination angle measurement device simultaneously, should
Declination angle measurement device includes two orthogonal can arbitrarily rotate two meniscus installed in metal framework bottom, two meniscus
Centre be respectively provided with a chute for steel wire penetrating, a quill shaft is respectively installed in the rotating shaft of two meniscus one end
Steel wire rope in encoder, the vertical tension unit bypasses pulley c and passed through in the chute of the orthogonal points of two meniscus
Afterwards straight down, the end of steel wire rope is connected with man-machine connection unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057859.7U CN206499632U (en) | 2016-09-18 | 2016-09-18 | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057859.7U CN206499632U (en) | 2016-09-18 | 2016-09-18 | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair |
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| Publication Number | Publication Date |
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| CN206499632U true CN206499632U (en) | 2017-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621057859.7U Withdrawn - After Issue CN206499632U (en) | 2016-09-18 | 2016-09-18 | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
-
2016
- 2016-09-18 CN CN201621057859.7U patent/CN206499632U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
| CN106236519B (en) * | 2016-09-18 | 2018-07-10 | 南开大学 | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170919 Effective date of abandoning: 20180710 |
|
| AV01 | Patent right actively abandoned |